Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

@article{d40ca939-e6ed-4e94-bd5f-ece2ad0751d0,
abstract = {Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.},
author = {Johansson, Rolf and Robertsson, Anders and Nilsson, Klas and Brogårdh, Torgny and Cederberg, Per and Olsson, Magnus and Olsson, Tomas and Bolmsjö, Gunnar},
issn = {0143-991X},
keyword = {Material-Removal Processes,Force,Sensors,Robotics},
language = {eng},
number = {3},
pages = {284--296},
publisher = {Emerald Group Publishing Limited},
series = {Industrial Robot},
title = {Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control},
url = {http://dx.doi.org/10.1108/01439910410532369},
volume = {31},
year = {2004},
}